#ifndef __PID_H
#define __PID_H

#include "stm32f1xx_hal.h"

typedef struct
{
	float Kp;
	float Kd;
	float Ki;
	
	float Error;
	float PreError;
	
	float Sum_E;
	
}PID_Handle;

extern PID_Handle hpidA;
extern PID_Handle hpidV;



float PID(float Actual, float Target,PID_Handle* hpid);
#endif 
